Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment, IEEE HUMANOIDS, 2024
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Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives, 2024
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From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry, IEEE/RSJ IROS, 2024
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Agile perching maneuvers in birds and morphing-wing drones, NATURE, 2024
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Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Opt. Techniques, IEEE HUMANOIDS, 2024
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Learning to Walk and Fly with Adversarial Motion Priors, IEEE/RSJ IROS, 2024
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XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction Collaboration, 2024
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UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots, IEEE ICRA, 2024
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Real-time Lower Leg Muscle Forces Estimation using a Hill-type Model and Whole-body Wearable Sensors, I-RIM, 2023
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Co-Design Optimisation of Morphing Topology and Control of Winged Drones, IEEE ICRA, 2024
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iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots, SCIENCE.ORG, 2024
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Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization, IEEE HUMANOIDS, 2023
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Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots, IEEE HUMANOIDS, 2023
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Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot, IEEE ICRA, 2023
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Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Force Parametrization, IEEE ICRA, 2023
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A Control Approach for Human Robot Ergonomic Payload Lifting, IEEE ICRA, 2023
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Torque Control with Joints Position and Velocity Limits Avoidance, IEEE ICRA, 2023
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Simultaneous Action Recognition & Human Whole-Body Motion & Dynamics Prediction from Wearable Sensor, IEEE Humanoids, 2022
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Whole-Body Trajectory Optimization for Robot Multimodal Locomotion, IEEE Humanoids, 2022
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Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting, IEEE Humanoids, 2022
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Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter, IEEE Humanoids, 2022
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Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility, IEEE Humanoids, 2022
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Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion, IEEE Transactions on Robotics, 2022
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Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots, IEEE Transactions on Robotics, 2022
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An Integrated Programmable CPG with Bounded Output, IEEE Transactions on Automatic Control, 2022
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Nonlinear Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines, IEEE ICRA, 2022
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Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots, IEEE ICRA, 2022
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Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment, IEEE ICRA, 2022
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ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots, IEEE Robotics and Automation Letters, 2022
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Analysis of Human Whole-body Joint Torques during Overhead Work with a Passive Exoskeleton, IEEE Transactions on Human-Machine Systems, 2021
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Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots,IEEE Robotics and Automation Letters, 2021
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Online Non-Collocated Estimation of Payload and Articular Stress for Human Ergonomy Assessment, IEEE Access, 2021
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DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots Using EKF on Matrix Lie Groups, IEEE ICRA, 2021
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Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control, Robotics Automation Letters (RA-L), 2021
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Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback, IEEE Transaction on Robotics, 2021
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Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization, IEEE ICRA, 2021
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In-Situ Translational Hand-Eye Calibration of Laser Profile Sensors Using Arbitrary Objects, IEEE ICRA, 2021
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Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics, MDPI Algorithms, 2020
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Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas, IEEE/RSJ IROS, 2020
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Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics, IEEE Robotics and Automation Letters (RA-L), 2020
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On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning, IEEE Robotics and Automation Letters (RA-L) and IEEE Humanoids, 2020
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Direct force feedback control and online multi-task optimization for aerial manipulators, IEEE Robotics and Automation Letters (RA-L), 2020
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Whole-Body Geometric Retargeting for Humanoid Robots, IEEE Humanoids, 2019
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Torque and Velocity Controllers to Perform Jumps With a Humanoid Robot: Theory and Implementation on the iCub Robot, IEEE ICRA, 2019
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Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots, IEEE Humanoids, 2019
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A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots, IEEE Humanoids, 2018
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Robust Real-time Whole-Body Motion Retargeting from Human to Humanoid, IEEE Humanoids, 2018
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